JP2019069194A - Medical observation device and medical observation system - Google Patents

Abstract

To provide a medical observation device and a medical observation system that realize a sufficient visual field used for a user to observe a displayed image at the time of imaging an observed body and displaying an image.SOLUTION: A medical observation device comprises: a columnar microscope part that outputs an imaging signal by magnifying and imaging a minute portion of an observed body; and a supporting part that has a first joint part which holds the microscope part in a manner rotatable around a first axis parallel to a height direction of the microscope, has a first arm part which holds the first joint part and extends in a direction different from the height direction of the microscope part, has a second joint part which holds the first arm part in a manner rotatable around a second axis perpendicular to the first axis, and has a second arm part which supports the second joint part. In a plane surface passing through the first and second axes, each cross section of the microscope part, the first and second joint parts and the first and second arm parts is included in a circle passing through end points of the first joint part which are farthest from a focal position of the microscope part with the focal position as a center.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a medical observation apparatus and a medical observation system for observing a minute region of an object to be observed.

  Conventionally, an optical system provided with a magnifying optical system for enlarging the minute region as a medical observation system for observing the minute region when performing surgery on the minute region in a patient's brain or heart as an object to be observed The following microscope system is known (see, for example, Patent Document 1). When performing an operation using this microscope system, an operator (user) such as a doctor performs an operation while observing the operation site through the eyepiece lens.

  FIG. 10 is a view schematically showing a state in which an operator performs surgery using a conventional optical microscope system. As shown in FIG. 10, the operator 401 performs an operation while observing the operating part of the patient 402 via the eyepiece 502 of the microscope unit 501. Therefore, as the operation time increases, the burden on the eyes of the operator 401 increases, and the burden on the body of the operator 401 by continuing to take the same posture also increases.

  As a technique for solving the problem of such an optical microscope system, a video microscope system provided with an imaging means for imaging a minute region such as a surgical site is known (see, for example, Patent Document 2) ). FIG. 11 is a diagram schematically showing a situation where surgery is performed using a conventional video microscope system. As shown in FIG. 11, the operator 401 performs surgery while observing the image of the operation site of the patient 402 captured by the imaging unit 601 with the monitor 602. Such a video microscope system can significantly reduce the burden on the operator's eyes and body during long-term surgery as compared to an optical microscope system.

Unexamined-Japanese-Patent No. 2004-117596 Japanese Patent Application Laid-Open No. 2002-272760

  By the way, in the case of a video microscope system, unlike an optical microscope system, it is desirable that there are few obstacles which obstruct the visual field when the operator looks at the monitor. However, for example, in the case illustrated in FIG. 11, the imaging unit 601 is located between the operator 401 and the monitor 602, which hinders the operator 401 from viewing the monitor 602. A situation similar to that of FIG. 11 also occurs in FIG. 2 and the like of Patent Document 2 described above.

  As described above, it has been difficult to say that in the conventional video microscope system, measures for securing a visual field when the operator looks at the monitor are sufficiently taken.

  The present invention has been made in view of the above, and it is for medical use that can sufficiently secure a visual field for observing a displayed image when the user picks up an object and displays the image. An object of the present invention is to provide an observation device and a medical observation system.

  In order to solve the problems described above and to achieve the object, a medical observation apparatus according to the present invention is a columnar microscope unit that outputs an imaging signal by enlarging and imaging a minute region of an object to be observed; A first joint rotatably holding the microscope unit around a first axis parallel to the height direction of the microscope unit; holding the first joint unit in a direction different from the height direction of the microscope unit An extending first arm portion, a second joint portion rotatably holding the first arm portion around a second axis orthogonal to the first axis, and a second arm portion holding the second joint portion; And, in a plane passing through the first and second axes, passing through an end point of the first joint where the distance from the focal position of the microscope is the maximum, in a plane passing through the first and second axes. In the circle, the microscope unit, the first and second joints, and the like Characterized to include the cross-section of the first and second arm portions.

  In the medical microscope apparatus according to the present invention as set forth in the invention described above, the second axis is closer to the first joint than the center in the height direction of the columnar portion including the microscope and the first joint. It is characterized by passing.

  The medical microscope apparatus according to the present invention is characterized in that, in the above-mentioned invention, the medical microscope apparatus further comprises transmission means which is provided inside the support section and transmits an imaging signal outputted by the microscope section.

  In the medical observation apparatus according to the present invention as set forth in the invention described above, the transmission means has a plurality of thin coaxial cables transmitting an imaging signal which passes through the inside of the first joint and which is output by the microscope. It features.

  In the medical observation apparatus according to the present invention, in the above-mentioned invention, a part of the plurality of thin wire coaxial cables has a bundle shape passing an axis in the height direction of the microscope unit inside the first joint unit. It is characterized by extending.

  The medical observation apparatus according to the present invention is characterized in that, in the above-mentioned invention, the medical observation apparatus further comprises two bundling parts respectively binding the both ends of the part where the plurality of thin coaxial cables extend in a bundle.

  The medical observation apparatus according to the present invention is characterized in that, in the above-mentioned invention, the medical observation apparatus further includes photoelectric conversion means provided inside the support section and converting an imaging signal output from the microscope section into an optical signal. I assume.

  In the medical observation apparatus according to the present invention as set forth above, the medical observation apparatus according to the present invention further comprises transmission means provided inside the support section and transmitting an imaging signal output from the microscope section, the transmission means comprising the first joint section And a plurality of fine coaxial cables, each having one end connected to the microscope unit and the other end connected to the photoelectric conversion unit, and transmitting an imaging signal output from the microscope unit to the photoelectric conversion unit It is characterized by having.

  The medical observation apparatus according to the present invention is characterized in that, in the above-mentioned invention, the photoelectric conversion means is disposed inside the first arm portion.

  In the medical observation apparatus according to the present invention as set forth above, the medical observation apparatus according to the present invention further comprises transmission means provided inside the support and transmitting an imaging signal output from the microscope, the transmission means comprising the photoelectric conversion means It further comprises an optical fiber for transmitting the converted optical signal.

  The medical observation apparatus according to the present invention is characterized in that, in the above-mentioned invention, the medical observation apparatus further includes an operation input unit which is provided on a side surface of the microscope unit and receives an operation input to the medical observation apparatus.

  A medical observation system according to the present invention includes: the medical observation device described above; a control device that performs signal processing on the imaging signal output by the microscope unit to generate display image data; and the control device And a display device for displaying an image corresponding to the generated image data.

  According to the present invention, the focal point of the microscope unit is a first axis which is the rotation axis of the microscope unit and a plane which is an axis perpendicular to the first axis and which is the rotation axis of the first arm unit and which passes the second axis. In a circle passing through the end point of the first joint where the distance from the focal position is maximum with respect to the position, the cross sections of the microscope, the first and second joints, and the first and second arms are included. As a result, when viewed from the user, the first and second arms and the second joint can be configured to be hidden behind the microscope and the first joint. Therefore, when imaging an object to be observed and displaying an image, it is possible to ensure a sufficient field of view for the user to view the displayed image.

FIG. 1 is a perspective view showing an appearance configuration of a medical observation system according to Embodiment 1 of the present invention. FIG. 2 is an enlarged perspective view showing the configuration of the microscope unit and the periphery thereof of the medical observation apparatus according to Embodiment 1 of the present invention. FIG. 3 is a partial cross-sectional view in the direction of arrow A in FIG. FIG. 4 is a schematic view for explaining the features of the distal end portion of the medical observation device according to the first embodiment of the present invention. FIG. 5 is a diagram schematically showing a situation in which the user operates the microscope unit of the medical observation apparatus according to Embodiment 1 of the present invention. FIG. 6 is a view schematically showing a state of surgery performed using the medical observation system according to Embodiment 1 of the present invention. FIG. 7 is a partial cross-sectional view showing the configuration of the main part of a medical observation apparatus according to Embodiment 2 of the present invention. FIG. 8 is a view showing the configuration of the main part of an observation device provided in a medical observation system according to Embodiment 3 of the present invention. FIG. 9 is a partial cross-sectional view showing the configuration of the main part of an observation device provided in a medical observation system according to Embodiment 4 of the present invention. FIG. 10 is a view schematically showing a state in which an operator performs surgery using a conventional optical microscope system. FIG. 11 is a view schematically showing a situation where an operator performs surgery using a conventional video microscope system.

  Hereinafter, a mode for carrying out the present invention (hereinafter, referred to as “embodiment”) will be described with reference to the attached drawings. Note that the drawings are merely schematic, and there may be portions where the dimensional relationships and ratios differ among the drawings.

Embodiment 1
FIG. 1 is a diagram showing the configuration of a medical observation system according to Embodiment 1 of the present invention. The medical observation system 1 shown in the figure is an operation of the medical observation apparatus (hereinafter referred to as an observation apparatus) 2 having a function as a microscope for magnifying and imaging the fine structure of the subject and the operation of the medical observation system 1. And a display device 4 for displaying an image captured by the observation device 2.

  The observation device 2 is provided at a base portion 5 movable on the floor surface, a support portion 6 supported by the base portion 5, and a tip end of the support portion 6 to magnify and image a minute region of the object to be observed. A columnar microscope unit 7 is provided.

  The support portion 6 includes a first joint portion 11, a first arm portion 21, a second joint portion 12, a second arm portion 22, a third joint portion 13, a third arm portion 23, a fourth joint portion 14, and a fourth arm. It has a portion 24, a fifth joint portion 15, a fifth arm portion 25 and a sixth joint portion 16.

  The support 6 has four sets of joints each of which rotatably connects one of the two arms and one of the two arms to the other (proximal side). Specifically, the four sets are (first arm 21, second joint 12, second arm 22), (second arm 22, third joint 13, third arm 23), (The third arm 23, the fourth joint 14, the fourth arm 24), and the (fourth arm 24, the fifth joint 15, the fifth arm 25).

The first joint portion 11 rotatably holds the microscope unit 7 on the distal end side, and is held by the first arm portion 21 in a state of being fixed to the distal end portion of the first arm portion 21 on the proximal end side. The first joint portion 11 has a cylindrical shape, rotatably holds the microscope unit 7 to the first about the axis O ₁ is a central axis in the height direction. The first arm portion 21 forms a shape extending in a direction perpendicular from the side surface of the first joint portion 11 and the first axis O _1. A more detailed configuration of the first joint portion 11 will be described later.

The second joint portion 12 holds the first arm portion 21 rotatably on the tip end side, and is held by the second arm portion 22 in a state fixed to the tip end portion of the second arm portion 22 on the base end side. Ru. The second joint portion 12 has a cylindrical shape, and is rotatable about a second axis O ₂ which is a central axis in the height direction and is an axis perpendicular to the first axis O _1. Hold. The second arm portion 22 has a substantially L-shape, and is connected to the second joint portion 12 at the end of the vertical line portion of the L-shape.

The third joint portion 13 holds the L-shaped horizontal line portion of the second arm portion 22 rotatably on the distal end side, and is fixed to the distal end portion of the third arm portion 23 on the proximal end side. It is held by the arm unit 23. The third joint portion 13 has a cylindrical shape, is a central axis in the height direction, is an axis perpendicular to the second axis O ₂ , and is an axis parallel to a direction in which the second arm portion 22 extends. rotatably about a third axis O ₃ for holding the second arm portion 22. The distal end side of the third arm portion 23 has a cylindrical shape, and on the proximal end side, a hole portion penetrating in a direction orthogonal to the height direction of the distal end side cylinder is formed. The third joint 13 is rotatably held by the fourth joint 14 through the hole.

The fourth joint portion 14 rotatably holds the third arm portion 23 on the distal end side, and is held by the fourth arm portion 24 in a state of being fixed to the fourth arm portion 24 on the proximal end side. The fourth joint portion 14 has a cylindrical shape, the height direction of the central axis and a a third axis O ₃ as the axis perpendicular rotatable about a fourth axis O ₄ in the third arm portion 23 Hold.

The fifth joint section 15 rotatably holds the fourth arm section 24 on the distal end side, and is fixed and attached to the fifth arm section 25 on the proximal end side. Fifth joint portion 15 has a cylindrical shape, the fourth arm portion 24 pivotable about a fifth axis O ₅ is parallel to the axis and the fourth axis O ₄ a central axis in the height direction Hold on. The fifth arm portion 25 includes an L-shaped portion and a rod-shaped portion extending downward from a horizontal line portion of the L-shape. The fifth joint unit 15 is attached to the end of the L-shaped vertical line portion of the fifth arm unit 25 on the proximal end side.

The sixth joint section 16 rotatably holds the fifth arm section 25 on the distal end side, and is fixed and attached to the upper surface of the base section 5 on the proximal end side. The sixth joint portion 16 has a cylindrical shape, and can rotate the fifth arm portion 25 around a sixth axis O ₆ which is a central axis in the height direction and is orthogonal to the fifth axis O ₅ Hold on. The proximal end portion of the bar-like portion of the fifth arm portion 25 is attached to the distal end side of the sixth joint portion 16.

  The support unit 6 having the configuration described above realizes a total of six degrees of freedom in the three translational degrees of freedom and three rotational degrees of freedom in the microscope unit 7.

  The first joint portion 11 to the sixth joint portion 16 have an electromagnetic brake that prohibits the rotation of the microscope unit 7 and the first arm unit 21 to the fifth arm unit 25, respectively. Each electromagnetic brake is released in a state in which an arm operation switch 73 (described later) provided on the microscope unit 7 is pressed, and allows rotation of the microscope unit 7 and the first to fifth arm units 21 to 25. An air brake may be applied instead of the electromagnetic brake.

  FIG. 2 is an enlarged perspective view showing the configuration of the microscope unit 7 of the observation device 2 and the periphery thereof. FIG. 3 is a partial cross-sectional view in the direction of arrow A in FIG. Hereinafter, the configuration of the microscope unit 7 will be described with reference to FIGS. 2 and 3.

The microscope unit 7 is provided in a hollow cylindrical portion 71 having a cylindrical shape, and in a hollow portion of the cylindrical portion 71, and an imaging unit 72 configured to magnify and image an image of an object to be observed; An arm operation switch 73 for releasing an electromagnetic brake in the joint unit 16 and receiving an operation input for permitting rotation of each joint unit, and a cross lever 74 capable of changing the magnification of the imaging unit 72 and the focal length to the object with the, formed around the upper portion of the imaging unit 72, an upper cover 75 which is fitted into the first joint portion 11 and a hollow cylindrical shaft portion 76 extending from the top cover 75 along a first axis O ₁ .

  The cylindrical portion 71 has a cylindrical shape having a diameter smaller than that of the first joint portion 11, and a cover glass for protecting the imaging portion 72 is provided on the opening surface of the lower end portion (not shown). The shape of the cylindrical portion 71 is not limited to a cylindrical shape, and may have, for example, a cylindrical shape in which a cross section orthogonal to the height direction is an ellipse or a polygon.

Imaging unit 72 has a plurality of lenses whose optical axes are arranged so as to coincide with the first axis O _1, an optical system 721 for imaging by the light condensing from the observation target, an optical system It has two image sensors 722 and 723 which each generate an image pick-up signal by light-receiving the light which 721 condensed, and photoelectrically converting. In addition, in FIG. 2, only the cylindrical housing which accommodates the several lens which the optical system 721 has is described.

  The optical system 721 can change the magnification of the image of the object to be observed and the focal length to the object according to the operation of the cross lever 74.

  The imaging elements 722 and 723 are respectively configured using a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The imaging elements 722 and 723 generate two imaging signals having parallax as imaging signals for generating a three-dimensional image. These imaging signals are respectively output from the imaging elements 722 and 723 as digital signals.

  The arm operation switch 73 is a push button type switch. While the user depresses the arm operation switch 73, the electromagnetic brakes of the first joint portion 11 to the sixth joint portion 16 are released. The arm operation switch 73 is provided on the side opposite to the side to which the user faces when operating the microscope unit 7, in other words, the side where the user's blind spot occurs when operating the microscope unit 7. The arm operation switch 73 forms a part of an operation input unit that receives an operation input to the observation device 2.

  The cross lever 74 is operable along the height direction of the cylindrical portion 71 and the circumferential direction orthogonal to the height direction. The cross lever 74 is provided on the side surface of the cylindrical portion 71 and on the lower side surface of the arm operation switch 73 along the height direction of the cylindrical portion 71. Similarly to the arm operation switch 73, the cross lever 74 also forms a part of an operation input unit that receives an operation input to the observation apparatus 2.

  When the cross lever 74 is operated along the height direction of the cylindrical portion 71 from the position shown in FIG. 2, the enlargement magnification is changed, and the cross lever 74 is operated along the circumferential direction of the cylindrical portion 71 from the position shown in FIG. Then, the focal length to the object to be observed is changed. For example, moving the cross lever 74 upward along the height direction of the cylindrical portion 71 increases the enlargement magnification, and moving the cross lever 74 downward along the height direction of the cylindrical portion 71 decreases the enlargement magnification Become. When the cross lever 74 is moved clockwise along the circumferential direction of the cylindrical portion 71, the focal distance to the object to be observed is increased, and the cross lever 74 is rotated counterclockwise along the circumferential direction of the cylindrical portion 71. When moved, the focal distance to the object becomes close. The assignment of the moving direction and operation of the cross lever 74 is not limited to the one described here.

The upper cover 75 has a cylindrical portion 751 and a hollow disk portion 752 provided at the upper end of the cylindrical portion 751 and having the same diameter as the cylindrical portion 751. The hollow disc portion 752, extending along a first axis O _1, cylindrical shaft portion 76 hollow portion 76a is formed which communicates with the hollow portion 752a of the hollow disc portion 752 is attached.

  Next, with reference to FIG. 3, the structure of the principal part of the 1st joint part 11 is demonstrated. The first joint portion 11 has a cylindrical shape with an upper end portion having a bottom, and rotatably supports an outer shell 111 in which the upper cover 75 of the microscope portion 7 is fitted on the inner periphery and a shaft portion 76 of the microscope portion 7 It has a bearing portion 112 and a holding portion 113 fixed to the outer shell 111 and fixing and holding the outer periphery of the bearing portion 112. The outer shell 111 is fixedly connected to the outer shell 211 of the first arm portion 21. A through hole 111 a is formed in a connection portion between the outer shell 111 and the outer shell 211. The through hole 111 a communicates with the through hole 211 a formed in the outer shell 211. In FIG. 3, the configuration of the electromagnetic brake and the like is omitted.

FIG. 4 is a schematic view for explaining the features of the distal end portion of the observation device 2. Figure 4 represents a plane passing through the first axis O ₁ and the second axis O _2. Here, the distal end portion of the observation device 2 includes the microscope unit 7, the first joint unit 11, the first arm unit 21, the second joint unit 12, and the second arm unit 22. When the tip of the observation device 2 is viewed on a plane passing through the first axis O ₁ and the second axis O ₂ , the distance from the focal position O to the focal position O of the microscope unit 7 is maximum Inside the circle C passing through the end points E ₁ and E ₂ of the one joint portion 11, a cross section of the tip end portion is included. The focal position O of the microscope unit 7 may be variable or fixed. When the focus position O is variable, the tip of the observation device 2 is an end point E ₁ , E of the first joint 11 at which the distance from the focus position is maximum around any focus position in the changeable range. Included inside the circle that passes through ₂ .

Further, at the tip of the observation device 2, the second axis O ₂ passes through the side close to the first joint portion 11 from the center position in the height direction of the columnar portion consisting of the microscope unit 7 and the first joint portion 11 . In FIG. 3 and FIG. 4, the height of the columnar portion is H. The central position in the height direction is a position at which the distance from the lower end of the microscope unit 7 is H / 2. In FIGS. 3 and 4, the central position in the height direction is located at the boundary between the microscope 7 and the outer peripheral surface of the first joint portion 11, but this is merely an example.

  FIG. 5 is a view schematically showing the situation in which the user operates the microscope unit 7. The user operates the microscope unit 7 so as to face the side surface (right side surface in FIG. 5) opposite to the side surface (right side surface in FIG. 5) where the arm operation switch 73 is provided among the side surfaces of the cylindrical portion 71. At this time, in a state in which the user holds the microscope unit 7 with the right hand 101, the user operates the support unit 6 while pressing the arm operation switch 73 with the index finger (or the middle finger or ring finger).

  The distal end portion of the observation device 2 has the feature of the shape described with reference to FIG. 4, and therefore, when the user operates the microscope unit 7, the first arm unit 21, the second joint unit 12 and the second The tip of the arm 22 is always located behind the microscope 7 and the first joint 11 as viewed from the user, and it is difficult for the user to see the field of view. Therefore, it is possible to reduce the ratio of the tip of the observation device 2 to the field of view of the user and prevent the user's field of vision from being obstructed.

  In the observation device 2, the user can operate the support 6 by pressing the arm operation switch 73 while holding the microscope 7 naturally. In particular, since the arm operation switch 73 is provided on the side face of the microscope unit 7 where the user's blind spot (the side opposite to the side the user faces), the user holds the microscope unit 7 by hand Even when the microscope unit 7 is rotated or tilted, an operation of continuously pressing the arm operation switch 73 or an operation of pressing or releasing the arm operation switch 73 can be performed without discomfort.

  Further, in the observation device 2, there is no need to separately provide a grip portion provided with the arm operation switch 73, and the microscope portion 7 can be configured in a small size, so a sufficient view of the user can be secured.

  Furthermore, in the observation device 2, since the user holds the periphery of the microscope unit 7 by hand, it is possible to intuitively recognize the position of the optical axis of the optical system 721, that is, the direction of the imaging field of view. It can be easily moved to and has excellent operability.

Next, a configuration for transmitting an imaging signal output from the imaging unit 72 will be described with reference to FIG. A plurality of thin coaxial cables, which are transmission means for transmitting imaging signals, extend from the imaging elements 722 and 723 respectively, and a cable group 81 is configured as a whole. The cable group 81 passes through the hollow portion 76 a of the shaft 76. The cable group 81 is bound by the binding portions 82 and 83 outside the both ends of the shaft portion 76. Therefore, the cable group 81 forms a bundle between the binding portion 82 and the binding portion 83. Bundle section of the cable group 81 passes through the first axis O _1. Further, the cable group 81 extends from the first joint portion 11 to the first arm portion 21 through the through hole 111 a of the outer shell 111 and the through hole 211 a of the outer shell 211.

  Thus, by bundling the cable group 81 with the two bundling portions 82, 83, in the bundled bundle-like portion, it is caused by the rotation of the microscope portion 7 with respect to the first joint portion 11 (first arm portion 21). The occurrence of twisting is suppressed.

Subsequently, the configuration of the medical observation system 1 will be described.
The control device 3 receives an imaging signal output from the observation device 2 and performs predetermined signal processing on the imaging signal to generate three-dimensional image data for display. The control device 3 is configured using a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and the like. The control device 3 may be installed inside the base unit 5 and integrated with the observation device 2.

  The display device 4 receives the three-dimensional image data generated by the control device 3 from the control device 3 and displays a three-dimensional image corresponding to the three-dimensional image data. Such a display device 4 includes a display panel made of liquid crystal or organic EL (Electro Luminescence).

  Next, an outline of the operation performed using the medical observation system 1 having the above configuration will be described. FIG. 6 is a view schematically showing a state of surgery using the medical observation system 1. Specifically, FIG. 6 is a view schematically showing a situation where the operator 201 who is the user operates the head of the patient 202 who is the object to be observed. The operator 201 holds the microscope unit 7 in a state in which the arm operation switch 73 of the microscope unit 7 is pressed while wearing the glasses 301 for three-dimensional image and viewing the three-dimensional image displayed by the display device 4 After moving to a desired position and determining the imaging field of view of the microscope unit 7, the finger is released from the arm operation switch 73. As a result, the electromagnetic brake operates in the first joint unit 11 to the sixth joint unit 16, and the imaging field of the microscope unit 7 is fixed. Thereafter, the operator 201 adjusts the magnification and the focal length to the object. Since the display device 4 displays a three-dimensional image, the operator 201 can three-dimensionally grasp the surgical site through the three-dimensional image.

  In order to make it easy for the operator 201 to grasp the microscope unit 7 and not to obstruct the view when the operator 201 looks at the display unit 4 or the operation unit of the patient 202, for example, the outer diameter of the cylindrical portion 71 is It is about 40 to 70 mm, the distance between the focus position O of the microscope unit 7 and the lower end of the microscope unit 7 is about 150 to 600 mm, and the combined height of the microscope unit 7 and the first joint unit 11 is about 100 to 220 mm Is more preferable.

According to the first embodiment of the present invention described above, in a plane passing through the first axis O ₁ and the second axis O _2, the distance from the focal point position O as the center of focus position O of the microscope portion 7 up Within the circle C passing through the end points E ₁ and E ₂ of the first joint 11, the microscope 7, the first joint 11, the first arm 21, the second joint 12, and the second arm 22. The first arm 21, the second joint 12, and the second arm 22 are configured to be hidden behind the microscope 7 and the first joint 11 when viewed from the user. can do. Therefore, when imaging an object to be observed and displaying an image, it is possible to ensure a sufficient field of view for the user to view the displayed image.

Further, according to the first embodiment, the second axis O ₂ passes through the side close to the first joint portion 11 than the height of the center of the columnar portion consisting microscope section 7 and the first joint portion 11 Therefore, a portion to be gripped by the user can be sufficiently secured without enlarging the tip. Accordingly, it is possible to provide the observation device 2 having the shape of the tip portion which is excellent in operability and suitable for realizing miniaturization.

Further, according to the first embodiment, since a part of the cable group 81 is formed in a bundle and passes through the first axis O ₁ , the rotation of the microscope unit 7 with respect to the first joint portion 11 is performed in this part. It is possible to suppress the occurrence of twisting caused by In particular, when the bundle portion is formed by using the two binding portions 82 and 83, almost no twisting occurs in the bundle portion.

  Further, according to the first embodiment, since the cable group 81 is disposed inside the support portion 6, compared to the case where the cable group 81 is drawn around the outside of the support portion 6, the user's It does not obstruct the view, and the view of the user can be secured sufficiently wide. By the way, in the first embodiment, in order to maintain the sterilization state of the observation device 2, it is also conceivable to provide a sterile drape so as to cover the surface of the observation device 2. In the case of applying the sterile drape, when the cable group 81 is exposed to the outside of the support portion 6, the outer diameter of each part of the observation device 2 becomes larger, and the view of the visual field between the user and the display device 4 is disturbed. And make the observation by the user difficult. On the other hand, in the first embodiment, since the cable group 81 is disposed inside the support portion 6, even in the case of applying a sterile drape, the user's view can be sufficiently ensured. it can.

  Further, according to the first embodiment, since the user holds and holds the microscope unit 7 by hand, the direction of the optical axis of the optical system 721 or the imaging field of the microscope unit 7 can be intuitively recognized. The microscope unit 7 can be easily moved to a desired position. This point is compared with the case where the grip provided with the switch for operation signal input is separated from the optical axis of the optical system and the direction of the optical axis can not be intuitively recognized as in the conventional microscope for surgery. This is one of the very advantageous effects.

  Further, according to the first embodiment, since the support portion 6 is configured by connecting the plurality of arm portions and the joint portion, the configuration of the microscope portion 7 can be made with a simple configuration as compared with the conventional link mechanism. Motion can be realized.

Second Embodiment
FIG. 7 is a diagram showing the configuration of the main part of the observation device provided in the medical observation system according to Embodiment 2 of the present invention. More specifically, FIG. 7 is a view showing the configuration of the main part of an observation device 2A provided in the medical observation system according to the second embodiment. The configuration of the medical observation system other than that shown in FIG. 7 is the same as the configuration of the medical observation system 1 described in the first embodiment.

  In the observation device 2 </ b> A, the cable group 81 is connected to an FPGA (Field Programmable Gate Array) substrate 84 provided inside the first joint portion 11. The FPGA substrate 84 is connected to the photoelectric composite module 86 via the flexible substrate 85 inside the first joint portion 11.

  The photoelectric composite module 86 includes a photoelectric conversion element that converts an imaging signal transmitted through the cable group 81 into an optical signal and outputs the optical signal. In addition, the photoelectric composite module 86 relays an electrical signal such as a control signal or a signal for power supply. Such a photoelectric composite module 86 has a cylindrical shape, and a connection portion for connecting the flexible substrate 85 is provided on the bottom surface on the tip side. In addition, the photoelectric composite module 86 relays control and power electric signals on a substrate on which a photoelectric conversion element for converting an imaging signal transmitted through the flexible substrate 85 into an optical signal and outputting the optical signal is output. And the substrate of These substrates are housed inside a cylindrical cover member. The shape of the cover member of the photoelectric composite module 86 is not limited to a cylindrical shape, and may have a cylindrical shape such that the cross section orthogonal to the height direction is an ellipse or a polygon, for example.

  The FPGA substrate 84, the flexible substrate 85, and the photoelectric composite module 86 have a function as a photoelectric conversion unit that converts an imaging signal output from the microscope unit 7 into an optical signal and outputs the optical signal.

  The proximal end side of the photoelectric composite module 86 is connected to one end (tip) of a composite cable 87 which is a transmission means for transmitting an optical signal and an electric signal. The composite cable 87 extends from the first joint portion 11 to the first arm portion 21 via the through hole 111 a of the outer shell 111 and the through hole 211 a (see FIG. 3) of the outer shell 211. The composite cable 87 is disposed inside the first arm unit 21 to the fifth arm unit 25, and the other end (proximal end) is connected to the control device 3. In the composite cable 87, one or more optical fibers are disposed on the central axis, and a plurality of metal wires are disposed around the same. The optical fiber is connected to a substrate on which the photoelectric conversion element of the photoelectric composite module 86 is mounted, and transmits an optical signal obtained by photoelectric conversion of an imaging signal. On the other hand, the metal wire is connected to a substrate for relaying an electric signal of the photoelectric composite module 86, and transmits an electric signal for control and electric power. In order to suppress the voltage drop at the time of signal transmission in the metal wire, it is preferable to make the diameter of the metal wire as thick as possible.

  According to the second embodiment of the present invention described above, as in the first embodiment, when an image is displayed by imaging an object to be observed, a sufficient view for the user to view the displayed image is secured. be able to.

  Further, according to the second embodiment, photoelectric conversion means (FPGA substrate 84, flexible substrate 85, photoelectric device) which converts the imaging signal output from the microscope unit 7 into an optical signal and outputs it inside the first joint unit 11 Since the composite module 86 is provided, by using the optical signal, it is possible to prevent signal deterioration and rounding and to perform large-capacity data transmission while suppressing unnecessary radiation. Therefore, it is also possible to cope with the increase in the number of pixels (densification) of the imaging elements 722 and 723.

  Further, according to the second embodiment, since the photoelectric conversion means is provided inside the first joint unit 11 closest to the microscope unit 7, the deterioration of the signal quality due to the transmission of the electric signal can be minimized.

  Further, according to the second embodiment, since the electric signal is transmitted by the cable group 81 formed of a plurality of thin wire coaxial cables having a diameter smaller than that of the conventional metal wire, compared to the case where the conventional metal wire is used. The tip can be miniaturized.

  Further, according to the second embodiment, since the composite cable 87 for transmitting an optical signal is disposed inside the support portion 6, comparison is made with the case where the composite cable 87 is routed around the outside of the support portion 6. Thus, the view of the user can be secured sufficiently wide without obstructing the view of the user.

Third Embodiment
FIG. 8 is a view showing the configuration of the main part of an observation device provided in a medical observation system according to Embodiment 3 of the present invention. More specifically, FIG. 8 is a view showing the configuration of the main part of an observation device 2B provided in the medical observation system according to the third embodiment. The configuration of the medical observation system other than that shown in FIG. 8 is the same as the configuration of the medical observation system 1 described in the first embodiment.

  In the observation device 2 </ b> B, the cable group 81 is connected to the FPGA substrate 84 provided inside the first arm unit 21. The FPGA substrate 84 is connected to the photoelectric composite module 86 via the flexible substrate 85 inside the first arm unit 21. The proximal end side of the photoelectric composite module 86 is connected to one end (tip) of a composite cable 87 which is a transmission means for transmitting an optical signal and an electric signal. The composite cable 87 is disposed inside the second arm unit 22 to the fifth arm unit 25, and the other end (proximal end) is connected to the control device 3.

  According to the third embodiment of the present invention described above, as in the first embodiment, when an image is displayed by imaging an object to be observed, a sufficient view for the user to view the displayed image is secured. be able to.

  Further, according to the third embodiment, the imaging unit 72 of the microscope unit 7 and the photoelectric composite module 86 are connected by the cable group 81 formed of a plurality of thin wire coaxial cables to transmit an electrical signal. The tip portion can be miniaturized as compared with the case of using a conventional metal wire.

  Further, according to the third embodiment, photoelectric conversion means (FPGA substrate 84, flexible substrate 85, photoelectric device) which converts the imaging signal output from the microscope unit 7 into an optical signal and outputs it inside the first arm unit 21. Since the combination module 86 is provided, large-capacity data transmission using optical signals is possible, and it is possible to cope with the increase in the number of pixels of the imaging elements 722 and 723 (narrowing). In addition, according to the third embodiment, since the photoelectric conversion means is not provided in the first joint portion 11, the first joint portion 11 can be further miniaturized within the range satisfying the shape described with reference to FIG. it can.

Embodiment 4
FIG. 9 is a partial cross-sectional view showing the configuration of the main part of an observation device provided in a medical observation system according to Embodiment 4 of the present invention. More specifically, FIG. 9 is a view showing the configuration of the main part of the observation device provided in the medical observation system according to the fourth embodiment. The configuration of the medical observation system other than that shown in FIG. 9 is the same as the configuration of the medical observation system 1 described in the first embodiment.

  Hereinafter, with reference to FIG. 9, the structure of the principal part of the 1st arm part 21 which the observation apparatus 2C has, the 2nd joint part 12, and the 2nd arm part 22 is demonstrated.

In the observation device 2C, a cable group 81 formed of a plurality of thin wire coaxial cables extending from the first joint portion 11 to the first arm portion 21 forms a second arm portion from the first arm portion 21 through the second joint portion 12. It extends to the inside of 22. The first arm portion 21 has an outer shell 211 fixedly attached to the first joint portion 11 and a hollow formed at the base end portion of the outer shell 211 extending along the second axis O ₂ on the proximal end side of the outer shell 211 And a hollow cylindrical shaft portion 212 formed with a hollow portion 212a communicating with the portion 211b.

  The second joint portion 12 is fixedly attached to the two bearing portions 121 and 122 for pivotally supporting the shaft portion 212 and the outer shell 221 of the second arm portion 22, and the outer circumferences of the bearing portions 121 and 122 are And a holding portion 123 for holding in a fixed manner. In FIG. 7, the configuration of the electromagnetic brake and the like included in the second joint unit 12 is omitted.

The cable group 81 extends through the hollow portion 212 a of the first arm portion 21 to the inside of the second arm portion 22. The cable group 81 is bound by the binding portions 88 and 89 at the outside on both end sides of the shaft portion 212. The cable group 81 forms a bundle between the binding portion 88 and the binding portion 89. Bundle section of the cable group 81, passes through the second axis O _2.

  Thus, by bundling the cable group 81 with the two bundling portions 88, 89, in the bundled bundle-like portion, rotation of the first arm portion 21 with respect to the second joint portion 12 (second arm portion 22) Occurrence of twisting of the cable group 81 due to

  Each fine coaxial cable forming the cable group 81 is connected to an electrode of the FPGA substrate 84 disposed on the proximal side of the bundling portion 89 inside the second arm portion 22. The FPGA substrate 84 is connected to the photoelectric composite module 86 via the flexible substrate 85. The optical signal obtained by converting the imaging signal by the photoelectric composite module 86 is transmitted to the control device 3 via the composite cable 87. Also in the fourth embodiment, the FPGA substrate 84, the flexible substrate 85, and the photoelectric composite module 86 have a function as photoelectric conversion means.

  According to the fourth embodiment of the present invention described above, as in the first embodiment, when an image is displayed by imaging an object to be observed, a sufficient view for the user to view the displayed image is secured. be able to.

  Further, according to the fourth embodiment, photoelectric conversion means (FPGA substrate 84, flexible substrate 85, photoelectric device) which converts the imaging signal output from the microscope unit 7 into an optical signal and outputs it inside the second arm unit 22. Since the combination module 86 is provided, large-capacity data transmission using optical signals is possible, and it is possible to cope with the increase in the number of pixels of the imaging elements 722 and 723 (narrowing). In addition, according to the fourth embodiment, since the first joint portion 11 is not provided with the photoelectric conversion means, the first joint portion 11 can be further miniaturized within the range satisfying the shape described using FIG. 4. it can.

Further, according to the fourth embodiment, since a part of the cable group 81 is formed in a bundle and passes through the second axis O ₂ , the second joint portion 12 of the first arm portion 21 It is possible to suppress the occurrence of twisting due to the rotation with respect to the second arm portion 22). In particular, in the case where the bundle-like portion is configured by using the two bundling portions 88, 89, the twist hardly occurs in the bundle-like portion.

  Further, according to the fourth embodiment, since the photoelectric conversion means is not provided in the first arm portion 21, the first arm portion 21 can be made shorter than the third embodiment, and further miniaturization can be realized. Can.

(Other embodiments)
Although the modes for carrying out the present invention have been described above, the present invention is not to be limited only by the first to fourth embodiments described above. For example, two photoelectric composite modules 86 respectively connected to the imaging elements 722 and 723 may be disposed inside the support portion 6. In this case, two photoelectric composite modules 86 may be arranged side by side along the direction in which the first arm portion 21 or the second arm portion 22 extends, or the first arm portion 21 or the second arm portion 22 extends. It may be arranged in parallel in the direction orthogonal to the direction.

  Further, the photoelectric composite module 86 may be disposed in any of the third arm unit 23 to the fifth arm unit 25. In this case, it is possible to further miniaturize the first arm unit 21 and the second arm unit 22 located near the microscope unit 7. In this case, it is desirable to form the bundle-like portion described in the first embodiment or the like for the joint portion through which a plurality of thin wire coaxial cables pass.

  Alternatively, the photoelectric conversion means may be configured by integrating the FPGA substrate 84, the flexible substrate 85, and the photoelectric composite module 86.

  In addition, the support portion 6 may have at least one set of two arm portions and a joint portion pivotally connecting one of the two arm portions to the other.

  In addition, the imaging unit 72 may be configured to include one or three or more imaging elements. Among these, when the imaging unit 72 has only one imaging element, the display device 4 displays a two-dimensional image.

  Moreover, the operation input part provided in the cylindrical part 71 is not necessarily restricted to what was mentioned above. For example, an operation unit for changing the magnification ratio and an operation unit for changing the focal length to the object may be provided separately.

  Further, the medical observation apparatus may be arranged to be suspended from the ceiling of the installation location.

  Thus, the present invention can include various embodiments and the like without departing from the technical concept described in the claims.

(Supplementary note)
A columnar microscope unit that magnifies and images a minute region of an object to be observed;
A support having a first joint connected to the microscope and movably supporting the microscope;
Photoelectric conversion means disposed inside a portion of the support portion on the proximal side of the first joint portion and converting the imaging signal output from the microscope portion into an optical signal;
The medical observation apparatus characterized by having.

DESCRIPTION OF SYMBOLS 1 medical observation system 2, 2A, 2B, 2C, 9 medical observation apparatus 3 control apparatus 4 display apparatus 5 base part 6 support part 7, 501 microscope part 11 1st joint part 12 2nd joint part 13 3rd joint part 14 4th joint part 15 5th joint part 16 6th joint part 21 1st arm part 22 2nd arm part 23 3rd arm part 24 4th arm part 25 fifth arm part 71 tubed part 72 imaging part 73 arm operation Switch 74 Cross lever 75 Upper cover 76, 212 Shaft part 76a, 211b, 212a, 752a Hollow part 81 Cable group 82, 83, 88, 89 Binding part 84 FPGA substrate 85 Flexible substrate 86 Photoelectric composite module 87 Composite cable 111, 211, 221 Outer shell 111a, 211a through hole 112, 121, 122 support portion 113, 123 holding portion 5 02 eyepiece unit 601 imaging unit 602 monitor 721 optical system 722 and 723 imaging device 751 cylindrical unit 752 hollow disk unit

Claims (12)

A columnar microscope unit that outputs an imaging signal by enlarging and imaging a minute region of an object to be observed;
A first joint rotatably holding the microscope unit around a first axis parallel to the height direction of the microscope unit, a direction which holds the first joint unit and is different from the height direction of the microscope unit First arm portion extending in the second direction, a second joint portion rotatably holding the first arm portion around a second axis orthogonal to the first axis, and a second arm portion holding the second joint portion A support having
Equipped with
In a circle passing through the end point of the first joint portion, at a plane passing through the first and second axes, the distance from the focal position of the microscope portion being the center of the focal point position; A medical observation apparatus characterized in that the first and second joints and the cross sections of the first and second arms are included.   2. The medical device according to claim 1, wherein the second axis passes a side closer to the first joint portion than a center in a height direction of a columnar portion including the microscope portion and the first joint portion. Observation device.   The medical observation apparatus according to claim 1, further comprising a transmission unit provided inside the support unit and transmitting an imaging signal output from the microscope unit.   The medical observation apparatus according to claim 3, wherein the transmission unit includes a plurality of thin coaxial cables that pass through the inside of the first joint unit and transmit an imaging signal output from the microscope unit.   5. The medical device according to claim 4, wherein a part of the plurality of thin wire coaxial cables extends in a bundle shape passing an axis in a height direction of the microscope unit inside the first joint unit. Observation device.   The medical observation apparatus according to claim 5, further comprising two bundling parts respectively binding the both ends of the part of the plurality of thin coaxial cables extending in a bundle.   The photoelectric conversion device according to any one of claims 1 to 6, further comprising: photoelectric conversion means provided inside the support part, converting an imaging signal output from the microscope part into an optical signal and outputting the optical signal. Medical observation device. It further comprises transmission means provided inside the support part and transmitting an imaging signal outputted by the microscope part,
The transmission means passes through the inside of the first joint portion, one end of each is connected to the microscope portion and the other end is connected to the photoelectric conversion means, and the imaging signal output from the microscope portion is the photoelectric The medical observation apparatus according to claim 7, further comprising a plurality of thin coaxial cables for transmission to the conversion means. The photoelectric conversion means is
The medical observation apparatus according to claim 7, wherein the medical observation apparatus is disposed inside the first arm unit. It further comprises transmission means provided inside the support part and transmitting an imaging signal outputted by the microscope part,
The medical observation apparatus according to any one of claims 7 to 9, wherein the transmission means further comprises an optical fiber for transmitting the light signal converted by the photoelectric conversion means.   The medical observation apparatus according to any one of claims 1 to 10, further comprising: an operation input unit provided on a side surface of the microscope unit and receiving an operation input to the medical observation apparatus. The medical observation apparatus according to any one of claims 1 to 11.
A control device that performs signal processing on the imaging signal output from the microscope unit to generate display image data;
A display device for displaying an image corresponding to the image data generated by the control device;
The medical observation system characterized by having.

Images